Timer, SysTick and timer-peripheral helpers for STM32F4 (Cortex-M4). More...

#include "core/cortex-m4/timer.h"
#include "core/cortex-m4/clock.h"
#include "core/cortex-m4/interrupt.h"
#include "core/cortex-m4/uart.h"
#include "utils/timer_types.h"
#include <stdint.h>

Include dependency graph for timer.c:

Functions
void	systick_init (uint32_t tick_us)
	Initialize the SysTick timer to generate periodic ticks.
void	delay_us (uint64_t us)
	Busy-wait for the specified number of microseconds.
void	delay_ms (uint32_t ms)
	Busy-wait for the specified number of milliseconds.
uint64_t	hal_get_tick (void)
	Return the current system tick count.
uint32_t	hal_get_tick_duration_us (void)
	Return the configured tick duration in microseconds.
uint32_t	hal_get_tick_reload_value (void)
	Return the SysTick reload value (24-bit truncated).
uint32_t	hal_get_millis (void)
	Return system uptime in milliseconds.
uint32_t	hal_get_micros (void)
	Return system uptime in microseconds.
void	SysTick_Handler (void)
	SysTick interrupt handler increments the global tick counter.
uint32_t	_get_timer_base (hal_timer_t timer)
void	_enable_timer_rcc (hal_timer_t timer)
void	_timer_gp1_init (hal_timer_t timer, uint32_t prescaler, uint32_t auto_reload)
void	_timer_gp2_init (hal_timer_t timer, uint32_t prescaler, uint32_t auto_reload)
void	_timer_adv_init (hal_timer_t timer, uint32_t prescaler, uint32_t auto_reload)
void	timer_init (hal_timer_t timer, uint32_t prescaler, uint32_t auto_reload)
	Initialize a timer based on its type (advanced / gp1 / gp2).
void	timer_start (hal_timer_t timer)
	Start the specified timer.
void	timer_stop (hal_timer_t timer)
	Stop the specified timer.
void	timer_reset (hal_timer_t timer)
	Reset timer counter to zero.
uint32_t	timer_get_count (hal_timer_t timer)
	Get the current counter value for a timer.
uint32_t	timer_get_frequency (hal_timer_t timer)
	Calculate the timer's current base frequency using PSC and ARR.
void	timer_set_arr (hal_timer_t timer, uint32_t channel, uint32_t arr)
void	timer_clear_interrupt_flag (hal_timer_t timer)
void	TIM2_IRQHandler ()
	IRQ handler wrapper for TIM2.
void	TIM3_IRQHandler ()
	IRQ handler wrapper for TIM3.
void	TIM4_IRQHandler ()
	IRQ handler wrapper for TIM4.
void	TIM5_IRQHandler ()
	IRQ handler wrapper for TIM5.
void	TIM1BRK_TIM9_IRQHandler ()
	IRQ handler for TIM1 BRK and TIM9 shared vector.
void	_set_interrupt_enable_bit (hal_timer_t timer)
void	timer_enable_interrupt (hal_timer_t timer)
	Enable timer interrupts (NVIC + DIER UIE) for supported timers.
void	timer_attach_callback (hal_timer_t timer, void(*callback)(void))
	Attach a callback to the timer's HAL interrupt table.
void	timer_detach_callback (hal_timer_t timer)
	Detach a previously attached callback for the given timer.
void	timer_set_compare (hal_timer_t timer, uint8_t channel, uint32_t compare_value)
	Set the compare (CCR) register for a timer channel and configure CCMR.
uint32_t	timer_get_compare (hal_timer_t timer, uint32_t channel)
uint32_t	timer_get_arr (hal_timer_t timer, uint32_t channel)
void	timer_enable_channel (hal_timer_t timer, uint32_t channel)
void	timer_disable_channel (hal_timer_t timer, uint32_t channel)
	Disable output on the specified timer channel (CCxE = 0).

Detailed Description

Timer, SysTick and timer-peripheral helpers for STM32F4 (Cortex-M4).

This translation unit implements:

SysTick initialization and a microsecond tick counter.
Busy-wait delay helpers (delay_us, delay_ms).
Timer peripheral base lookup, RCC enable, init/start/stop/reset.
Timer interrupt control, attach/detach callbacks and IRQ handlers.
Channel compare and PWM setup helpers.

All logic is intentionally low-level (direct register access) and matches the STM32F4 register layout / behavior expected by the rest of the HAL.

Function Documentation

◆ _enable_timer_rcc()

void _enable_timer_rcc ( hal_timer_t timer )

◆ _get_timer_base()

uint32_t _get_timer_base ( hal_timer_t timer )

◆ _set_interrupt_enable_bit()

void _set_interrupt_enable_bit ( hal_timer_t timer )

◆ _timer_adv_init()

void _timer_adv_init	(	hal_timer_t	timer,
		uint32_t	prescaler,
		uint32_t	auto_reload )

◆ _timer_gp1_init()

void _timer_gp1_init	(	hal_timer_t	timer,
		uint32_t	prescaler,
		uint32_t	auto_reload )

◆ _timer_gp2_init()

void _timer_gp2_init	(	hal_timer_t	timer,
		uint32_t	prescaler,
		uint32_t	auto_reload )

◆ delay_ms()

void delay_ms ( uint32_t ms )

Busy-wait for the specified number of milliseconds.

Parameters

ms	Number of milliseconds to delay.

◆ delay_us()

void delay_us ( uint64_t us )

Busy-wait for the specified number of microseconds.

Parameters

us	Number of microseconds to delay.

Note: This is a blocking busy-wait that uses hal_get_tick() and the configured tick duration. It will wait at least one tick if the requested delay is smaller than the tick duration.

◆ hal_get_micros()

uint32_t hal_get_micros ( void )

Return system uptime in microseconds.

Returns: Microseconds since tick counter started.

◆ hal_get_millis()

uint32_t hal_get_millis ( void )

Return system uptime in milliseconds.

Returns: Milliseconds since tick counter started.

◆ hal_get_tick()

uint64_t hal_get_tick ( void )

Return the current system tick count.

Returns: Current tick count.

◆ hal_get_tick_duration_us()

uint32_t hal_get_tick_duration_us ( void )

Return the configured tick duration in microseconds.

Returns: Tick duration (us).

◆ hal_get_tick_reload_value()

uint32_t hal_get_tick_reload_value ( void )

Return the SysTick reload value (24-bit truncated).

Returns: Reload value currently configured in SYST_RVR.

◆ SysTick_Handler()

void SysTick_Handler ( void )

SysTick interrupt handler increments the global tick counter.

Note: This handler is intended to be wired into the vector table.

◆ systick_init()

void systick_init ( uint32_t tick_us )

Initialize the SysTick timer to generate periodic ticks.

Parameters

tick_us Tick period in microseconds.

Note: The SysTick reload is limited to 24 bits; this function clips the computed reload value to 24 bits. The function configures SysTick to use the selected clock source, enables the SysTick interrupt and starts the timer.

◆ TIM1BRK_TIM9_IRQHandler()

void TIM1BRK_TIM9_IRQHandler ( )

IRQ handler for TIM1 BRK and TIM9 shared vector.

Note: This function clears TIM9's flag and dispatches using the shared IRQn.

◆ TIM2_IRQHandler()

void TIM2_IRQHandler ( void )

IRQ handler wrapper for TIM2.

Clears the flag and dispatches to the HAL interrupt handler table.

◆ TIM3_IRQHandler()

void TIM3_IRQHandler ( void )

IRQ handler wrapper for TIM3.

◆ TIM4_IRQHandler()

void TIM4_IRQHandler ( void )

IRQ handler wrapper for TIM4.

◆ TIM5_IRQHandler()

void TIM5_IRQHandler ( void )

IRQ handler wrapper for TIM5.

◆ timer_attach_callback()

void timer_attach_callback	(	hal_timer_t	timer,
		void(*	callback )(void) )

Attach a callback to the timer's HAL interrupt table.

Parameters

timer	Timer identifier.
callback	Function pointer to call when the timer IRQ fires.

◆ timer_clear_interrupt_flag()

void timer_clear_interrupt_flag ( hal_timer_t timer )

◆ timer_detach_callback()

void timer_detach_callback ( hal_timer_t timer )

Detach a previously attached callback for the given timer.

Parameters

timer Timer identifier.

◆ timer_disable_channel()

void timer_disable_channel	(	hal_timer_t	timer,
		uint32_t	channel )

Disable output on the specified timer channel (CCxE = 0).

Parameters

timer	Timer identifier.
channel	Channel number (1-4).

◆ timer_enable_channel()

void timer_enable_channel	(	hal_timer_t	timer,
		uint32_t	channel )

◆ timer_enable_interrupt()

void timer_enable_interrupt ( hal_timer_t timer )

Enable timer interrupts (NVIC + DIER UIE) for supported timers.

Parameters

timer Timer identifier.

Note: For TIM1 more complex options exist and are left TODO in the original.

◆ timer_get_arr()

uint32_t timer_get_arr	(	hal_timer_t	timer,
		uint32_t	channel )

◆ timer_get_compare()

uint32_t timer_get_compare	(	hal_timer_t	timer,
		uint32_t	channel )

◆ timer_get_count()

uint32_t timer_get_count ( hal_timer_t timer )

Get the current counter value for a timer.

Parameters

timer Timer identifier.

Returns: Current counter value or 0 if invalid timer.

◆ timer_get_frequency()

uint32_t timer_get_frequency ( hal_timer_t timer )

Calculate the timer's current base frequency using PSC and ARR.

Parameters

timer Timer identifier.

Returns: Timer frequency in Hz or 0 if invalid timer.

Note: This reads PSC and ARR directly from timer registers and uses the appropriate APB clock for the timer.

◆ timer_init()

void timer_init	(	hal_timer_t	timer,
		uint32_t	prescaler,
		uint32_t	auto_reload )

Initialize a timer based on its type (advanced / gp1 / gp2).

Parameters

timer	Timer identifier.
prescaler	Prescaler value.
auto_reload	Auto-reload value.

◆ timer_reset()

void timer_reset ( hal_timer_t timer )

Reset timer counter to zero.

Parameters

timer Timer identifier.

◆ timer_set_arr()

void timer_set_arr	(	hal_timer_t	timer,
		uint32_t	channel,
		uint32_t	arr )

◆ timer_set_compare()

void timer_set_compare	(	hal_timer_t	timer,
		uint8_t	channel,
		uint32_t	compare_value )

Set the compare (CCR) register for a timer channel and configure CCMR.

Parameters

timer	Timer identifier.
channel	Channel number (1-4).
compare_value	Value to write into CCRx.

Note: This function sets PWM mode 1 and enables the channel after writing CCR.

◆ timer_start()

void timer_start ( hal_timer_t timer )

Start the specified timer.

Parameters

timer Timer identifier.

◆ timer_stop()

void timer_stop ( hal_timer_t timer )

Stop the specified timer.

Parameters

timer Timer identifier.

	NavHAL 0.1.0 NAVRobotec's architecture-agnostic HAL for embedded systems.

Functions

Detailed Description

Function Documentation

◆ _enable_timer_rcc()

◆ _get_timer_base()

◆ _set_interrupt_enable_bit()

◆ _timer_adv_init()

◆ _timer_gp1_init()

◆ _timer_gp2_init()

◆ delay_ms()

◆ delay_us()

◆ hal_get_micros()

◆ hal_get_millis()

◆ hal_get_tick()

◆ hal_get_tick_duration_us()

◆ hal_get_tick_reload_value()

◆ SysTick_Handler()

◆ systick_init()

◆ TIM1BRK_TIM9_IRQHandler()

◆ TIM2_IRQHandler()

◆ TIM3_IRQHandler()

◆ TIM4_IRQHandler()

◆ TIM5_IRQHandler()

◆ timer_attach_callback()

◆ timer_clear_interrupt_flag()

◆ timer_detach_callback()

◆ timer_disable_channel()

◆ timer_enable_channel()

◆ timer_enable_interrupt()

◆ timer_get_arr()

◆ timer_get_compare()

◆ timer_get_count()

◆ timer_get_frequency()

◆ timer_init()

◆ timer_reset()

◆ timer_set_arr()

◆ timer_set_compare()

◆ timer_start()

◆ timer_stop()